Storage and retrieval installation and implementation method.

Abstract

A storage and retrieval facility (1) for storage units (U) comprising: / a / a plurality of storage racks (2), spaced apart to form aisles (3), / b / at least one transit location (ET) arranged under at least one of the storage racks (2), / c / at least one first vehicle (V1) configured to travel in the aisles (3), configured to transport a storage unit (U) between an elevated storage location and said at least one transit location (ET), / d / at least one second vehicle (V2) configured to transport a storage unit (U) between said at least one transit location (ET) and at least one location outside the storage racks, / e / at least one free passage (PL), adjacent to said transit location (ET), configured to allow the movement of said at least one second vehicle (V2) along a traffic lane perpendicular to the aisles (3). Abstract Figure: Figure 1

Description

Title of the invention: Storage and retrieval installation and method of implementation.

[0001] This disclosure relates to a storage and retrieval facility for storage units, and to a storage and retrieval process implemented by said facility.

[0002] This disclosure is particularly applicable when storage units include a pallet intended to receive palletized contents. The contents may include items, namely articles or packaging such as cartons, which are grouped on the pallet. The items are typically held on the pallet by means of stretch film. The stretch film is unwound under tension around the contents, typically along the entire height of the contents, and so as to hold all the items on the pallet, confined within a wrap formed by the stretch film wound around the contents.

[0003] Generally, pallets can be in the format 1200 by 1000 (length and width in millimeters) for example an ISO pallet, or any other format known to a person skilled in the art such as 1200 by 800 for a Euro-sized pallet.

[0004] In such a case, the storage and retrieval installation will automate the storage and retrieval of pallets, and more generally of palletized contents which can typically have a load greater than 100 kg, for example between 100 kg and 1000 kg, or even more.

[0005] However, this disclosure is not limited to the field of pallets, and may find particular application for the storage and retrieval of containers, typically standard suitable for the implementation of order preparation, at the level of one or more order preparation stations of said installation. technical field

[0006] The present disclosure falls within the domain of automated storage and retrieval systems, typically comprising storage racks within which palletized contents can be stored and retrieved.

[0007] A prior art solution involves stacker cranes, which move along the length of the aisles between storage racks. These stacker cranes represent a cumbersome solution requiring the installation of guide rails on the ceiling and floor to guide a mast. This is a difficult and expensive solution to implement, with limited capacity.

[0008] An improvement on such a prior art is described in document WO2023 / 159401. The automated storage and retrieval system therein comprises two types of vehicles: - a first vehicle similar to a stacker crane, guided in an aisle between two storage racks by rails arranged at the top and bottom of the two racks. This first vehicle is configured to transfer palletized contents between a high location in a rack and a second vehicle, parked outside the aisle, and - a second automated guided vehicle that moves outside the aisle, configured to transport the palletized contents received from the first vehicle.

[0009] The first vehicle includes, in particular, two masts and a fork that can be moved vertically between the masts, the fork being further configured to transfer palletized contents between the first vehicle and one of the storage locations. The second vehicle includes, in particular, grooves configured to receive the fork of the first vehicle, thus enabling the transfer of palletized contents between the first vehicle and the second vehicle.

[0010] Like conventional stacker cranes, this solution remains expensive and difficult to implement.

[0011] A second prior art, illustrated for example by US document 2016 / 0090283 Al, knows of automated guided vehicles which include a horizontal movement system, and a transfer system, typically a telescopic fork, movable in height, to align with a storage location.

[0012] Such vehicles move in the aisles, and are configured to transfer a load such as palletized contents between a rack storage location and the vehicle.

[0013] Such a vehicle can be used to remove palletized contents and then moved along the aisle to transport the contents to a desired location outside of storage racks. Such a solution using the same type of vehicle is slow for the following reasons: - Such vehicles typically operate in the midst of human presence, which necessitates limiting their speed according to standard safety regulations. - Moving the vehicle along the driveway until it exits the vehicle takes time. - Additional time is required after the vehicle exits if the vehicle has to drop off the palletized contents on a drop-off device, away from the storage racks.

[0014] A third installation solution includes shuttles circulating respectively at several height levels along the aisles between two storage racks, each shuttle guided by horizontal rails attached to the two storage racks, and which allows a storage unit to be extracted from a storage and transport location at the end of the aisle for its transfer onto a descending device, ensuring its vertical transport to one or more conveyors.

[0015] US patent 2017 / 0101264 illustrates an alternative installation of such a prior art. In this patent, the installation comprises, at each height level, rows arranged transversely to the aisles. Aisle shuttles move the palletized contents along the aisles to and from elevators, and row shuttles move the palletized contents from the aisle shuttles along the rows. However, this is an expensive solution and not suitable for achieving high processing capacities.

[0016] More recently, a fourth prior art, disclosed by document WO2024 / 091954 A1, describes an automated storage and retrieval system designed for navigation by an automated guided vehicle in a three-dimensional environment. The system comprises a multi-level storage facility with cuboid cells and an automated guided vehicle capable of supporting palletized contents and moving vertically and horizontally.

[0017] Such a solution requires specific storage facilities to support the climbing elements, which increases their cost. Another drawback of such a solution is the impossibility of using high-power motors, which necessitates limiting the vertical travel speed, particularly when the load becomes significant, as is the case with palletized contents.

[0018] According to the inventors' findings, such a state of the art can be improved, in particular with regard to the management of logistical flows, and the capacities of the installation.

[0019] Summary

[0020] This disclosure improves the situation.

[0021] According to a first aspect, a storage and retrieval installation for storage units is proposed, comprising: - / a / a plurality of storage racks, spaced apart from each other to form aisles, each storage rack comprising a plurality of stacked storage locations for supporting storage units, in height relative to a horizontal surface, such as the floor, - / b / at least one transit location (in particular one or more transit locations), arranged under at least one of the storage racks to temporarily receive a storage unit, - / c / at least one first vehicle configured to travel in the aisles and transport a storage unit between a high-bay storage location and said at least one transit location, - / d / at least one second vehicle configured to transport a storage unit between said at least one transit location and at least one location external to the storage racks, - Id at least one free passage under said storage racks, adjacent to said transit location, configured to allow the circulation of said at least one second vehicle along a traffic lane transverse to the aisles.

[0022] Transit locations and free passages can be arranged alternately along the length of the storage rack so that at least one free passage is associated adjacent, laterally to each transit location.

[0023] The features described in the following paragraphs may optionally be implemented for the installation according to the first aspect, independently of each other or in combination with each other:

[0024] According to one possibility, the first vehicle is configured to transport said storage unit between said high storage location and up to, resting on a higher surface, at least a second vehicle parked on the transit location;

[0025] According to another possibility, said transit location may include a mechanical storage system configured to temporarily support a storage unit at a distance from the horizontal surface, and in which a longitudinal movement of the second vehicle from the free passage to said adjacent transit location ensures an insertion position of the second vehicle under said storage unit supported by the mechanical storage system;

[0026] In particular, said mechanical storage system may include a pair of mechanical interfaces comprising a first mechanical interface and a second mechanical interface, parallel to each other, each oriented longitudinally along the length of the storage rack, and in which said second vehicle is arranged between the first interface and the second interface in the insertion position;

[0027] According to one embodiment, the second vehicle may include a lifting system comprising a platform configured to move from a low position so as to allow positioning of the second vehicle under a storage unit supported by the mechanical storage system to a high position for which the platform lifts the storage unit and releases said storage unit from the mechanical storage system.

[0028] According to one embodiment, said installation may comprise storage units, each having a width dimension and a length dimension greater than the width dimension, and in which: - the storage units are stored in the storage locations, longitudinally, according to a dimension in depth of the storage rack, transversely to the storage rack, and - the first vehicle is configured to transport one of the storage units from a high storage location to a transit location, without changing the orientation of said storage unit, by positioning said storage unit on the transit location, oriented longitudinally, following the transverse direction of the storage rack.

[0029] According to one embodiment, said installation may comprise storage units, each having a width dimension and a length dimension greater than the width dimension, and in which: - the storage units are stored in the storage locations, longitudinally, according to a dimension in depth of the storage rack, transversely to the storage rack, and - the first vehicle is configured to transport one of the storage units from a high storage location to a transit location, without changing the orientation of said storage unit, by positioning said storage unit on the transit location, oriented longitudinally, following the transverse direction of the storage rack.

[0030] According to one embodiment, the storage rack or each storage rack may comprise several columns distributed along the length of the storage rack, each column comprising a plurality of stacked storage locations to receive respectively a plurality of storage units, and wherein the second vehicle or vehicles comprise a length dimension less than or equal to the depth dimension of the storage rack, and a width dimension less than the length of the second vehicle, less than the longitudinal dimension of a storage location.

[0031] According to one embodiment, the first mechanical interface and the second mechanical interface can be spaced, along the transverse direction to the storage rack, with a spacing greater than the length dimension of a second vehicle.

[0032] According to one embodiment, all or part of the free passages are double passages, adjacent to the same transit location, the double passages allowing the circulation of two second vehicles, each carrying or not a storage unit, respectively following a first traffic lane and a second independent traffic lanes in opposite directions across the storage rack, the second two vehicles likely to cross through the free passages, adjacent to the same transit location.

[0033] According to an advantageous embodiment, the second vehicle can be configured to transport a storage unit between said at least one transit location and said at least one external location outside the storage racks by implementing: - at least one lateral movement of the second vehicle along the lane of traffic, followed or preceded by - a longitudinal movement of the second vehicle between the free passage and said at least one adjacent transit location, under one of the storage racks, following a longitudinal movement direction of said storage rack.

[0034] A change of direction is carried out between longitudinal displacement and transverse displacement, which can be carried out without changing the orientation of a chassis of the second vehicle according to one possibility, or carried out with a change of orientation of the chassis according to another possibility.

[0035] According to one embodiment, the second vehicle or each second vehicle may include a horizontal drive system configured to ensure movement on the horizontal surface, and to selectively move the second vehicle, following a first direction parallel to the longitudinal direction of the storage racks, or following a direction transverse to the longitudinal direction of the rack, as well as a system for changing direction from the first direction to the second direction or vice versa, without changing the orientation of the vehicle.

[0036] According to one embodiment, the first vehicle(s) comprise in whole or in part: - a horizontal drive system configured to move the vehicle across a horizontal surface, - at least one mast, and - a transfer system, movable vertically along the mast configured to transfer a storage unit between the first vehicle and one of the storage locations.

[0037] According to one embodiment, said installation may include storage units, and in which the storage units are palletized contents, each comprising a pallet.

[0038] According to one embodiment, said installation may include a perimeter barrier forming a restricted access enclosure containing the storage racks, as well as the first and second vehicles circulating on the horizontal surface.

[0039] According to one embodiment, said installation may comprise: - an infeed conveyor for storage units, passing through the perimeter barrier for the entry of storage units to at least one location outside the storage rack, said units intended to be transported by the second vehicles to at least one transit location, and for the purpose of their loading into the storage locations of the rack, - an output conveyor for storage units, passing through the perimeter barrier, for the output of storage units removed from the storage rack locations, transported by the second vehicles from at least one transit location to at least one location outside the storage racks.

[0040] According to a second aspect, the present disclosure relates to a loading and retrieval process employing a storage and retrieval facility according to the present disclosure, in which: - A storage unit is removed from a storage location in one of the storage racks by: — automated transfer operations of the storage unit from the storage location of the storage rack to at least one transit location under the storage rack, by the first vehicle or one of the first vehicles and then by: — automated transfer operations of the storage unit by the second vehicle(s) from said at least one transit location to at least one external location outside the storage racks, and / or - Loading a storage unit into a storage location in the storage rack is performed by: — automated transfer operations of the storage unit from said at least one external location, outside the storage racks, to at least one transit location, under one of the storage racks, by the second vehicle(s), and then by, — automated transfer operations of the storage unit from said at least one transit location to the storage location in said storage rack, by the first vehicle or one of the first vehicles.

[0041] According to an embodiment of the process implementing an installation according to this disclosure, in particular lacking a mechanical storage system, in which: - during removal according to the second aspect, said at least one first vehicle transfers the storage unit from the storage location of the storage rack to at least one transit location under the storage rack, by placing the storage unit on the second vehicle parked on said at least one transit location; - during loading according to the second aspect, said at least a second vehicle carrying the storage unit is parked at said at least one transit location, when said first vehicle transfers the storage unit from said transit location to the storage location.

[0042] According to another embodiment of the loading and unloading process according to this disclosure, employing an installation according to this disclosure, equipped with at least one mechanical storage system, in which: - during removal according to the second aspect, said at least one first vehicle transfers the storage unit from the storage location of the storage rack to at least one transit location under the storage rack, placing the storage unit on the mechanical storage system, at a distance from the horizontal surface, - during loading according to the second aspect, the storage unit is stored on the transit location at a distance from the horizontal surface by the mechanical storage system, when said first vehicle transfers the storage unit from said transit location.

[0043] According to one embodiment of the loading and unloading process described in this disclosure, implementing an installation according to this disclosure, in which: - During removal according to the second aspect, the automated transfer operations by the second vehicle(s) are carried out by the second vehicle(s) traveling at least along said longitudinal movement, from said at least one transit location to the adjacent clear passage, followed, after a change of direction of the second vehicle, by the transverse movement of the second vehicle across the clear passage along the traffic lane, to move outside the storage racks to at least one location outside the storage racks; - During loading according to the second aspect, the automated transfer operations by the second vehicle(s) are carried out by the second vehicle(s) traveling along the traffic lane to the clear passage under the storage rack, adjacent to said at least one transit location, followed, after a change of direction of the second vehicle,by longitudinal displacement from the free passage to the adjacent transit location.

[0044] According to one embodiment, the presence of double free passages may allow the implementation of a loading and unloading process in which the free passages adjacent to said transit location are double passages, comprising for the transit location(s): - the first clear passages between different storage racks forming the first traffic lane for the second vehicles, - second free passages of the said different storage racks, forming the second traffic lane for the second vehicles.

[0045] Advantageously, the method may provide that the second vehicles travel only in one direction along the first lane, and the second vehicles travel only in a second direction, opposite to the first, along the second lane. Since the lanes are independent, the movement of the second vehicles along the first lane does not interfere with the movement of the second vehicles along the second lane.

[0046] The present disclosure further relates to an installation according to the present disclosure comprising a control unit, in particular a central processing unit, comprising one or more microprocessors, memory and an instruction set configured to cooperate with the microprocessor(s) to implement the loading and unloading process according to the present disclosure. Brief description of the drawings

[0047] Other features, details and advantages will become apparent from reading the detailed description below and from analyzing the accompanying drawings, in which: Fig. 1

[0048] [Fig. 1] illustrates an embodiment of a storage and retrieval installation which includes: - storage racks, arranged parallel to each other, forming aisles between the racks, each rack comprising a plurality of columns distributed along the length of the rack, each column having a plurality of stacked storage locations for storing storage units - the first vehicles featuring a vertically movable transfer system along a mast; the first vehicles configured to service storage rack locations, - temporary storage systems arranged under the racks formed by pairs of mechanical interfaces, some locations under the rack being devoid of mechanical interfaces to leave free passages for the movement of vehicles through the storage racks. - Second vehicles configured to move under storage racks, to deposit or retrieve storage units under the racks, and to move transversely to the storage rack through open passages, - a perimeter barrier forming an enclosure for the storage racks, as well as an enclosure for the first and second vehicles, restricting access - an inlet conveyor configured for the entry of storage units into said enclosure, - an output conveyor configured for the removal of storage units from said enclosure. Fig. 2

[0049] [Fig.2] is a top view of the installation illustrating: - the traffic lanes for the first vehicles along the aisles between the storage racks, - the traffic lanes for the second vehicles, transverse to the storage rack, through free, double passages, transverse to the storage rack, comprising a first traffic lane for the traffic of the second vehicles following a first direction only, and a second, independent traffic lane for the traffic of the second vehicles following a second direction only, opposite to the first direction. Fig. 2A

[0050] [Fig.2A] is a detailed view according to an alternative of [Fig.2] in which the first traffic lane and the second traffic lane, transverse to the storage rack, are arranged on either side of the pairs of mechanical interfaces, adjacent, the [Fig.[2A] illustrating a possible trajectory of the second vehicle, which: - moves in the first direction until one of the free passages under the storage rack along the first traffic lane, adjacent to the pair of mechanical interfaces, - changes direction and moves longitudinally to the storage rack until a position between the mechanical interfaces of the pair of mechanical interfaces, to pick up a storage unit by raising the platform, or to place a storage unit on the two mechanical interfaces of the pair, when the second vehicle is stopped between the mechanical interfaces, - moves longitudinally to another free passage on the second independent traffic lane, - changes direction and moves transversely to the storage rack along the second traffic lane, in a second direction opposite to the first direction. Fig. 3

[0051] [Fig.3] is a detailed view of [Fig.2], illustrating the trajectory of a second vehicle following a transverse direction until the free passage, then, after a change of direction of the second vehicle, following a longitudinal direction until the second vehicle is positioned between the two mechanical interfaces of the pair that supports a storage unit, and in particular palletized contents, illustrating in a notable way the length dimension of the second vehicle, which is oriented along the transverse direction and which is less than the spacing between the two mechanical interfaces of the couple. Fig. 4

[0052] [Fig.4] is a detail view illustrating the movement of the second vehicles, which are configured to move from the mechanical storage systems, and along a trajectory to deposit a storage unit at a location outside the rack, such as on a first transfer device associated with the output conveyor, and then load a storage unit from the input conveyor by a second transfer device. Fig. 5

[0053] [Fig.5] is a view of the first vehicle, which is in an avenue, transverse, between racks, and configured to travel along said avenue to change from one aisle between two racks, to another aisle between two other separate racks. Fig. 6

[0054] [Fig.6] a view of the first vehicle between two storage racks. Fig. 7

[0055] [Fig.7] is a schematic view of an embodiment of a trolley having a horizontal drive system which includes several motorized wheels. Fig. 7A

[0056] [Fig.7A] is a view of a possible embodiment of a direction change system, of the carriage of [Fig.7]. Figs. 8 to 10

[0057] [Fig. 8], [Fig. 9] and [Fig. 10] are views of a possible embodiment of a first vehicle transfer system, respectively in a retracted position, a first deployed position and a second deployed position. Description of embodiments

[0058] Also, the present disclosure relates, in a first aspect, to a storage and retrieval facility 1 for storage units U comprising: / a / a plurality of storage racks 2, spaced from each other to form aisles 3, each storage rack 2 comprising a plurality of stacked storage locations for supporting storage units U, in height relative to a horizontal surface SH, such as the floor, / b / at least one transit location ET arranged under at least one of the storage racks 2 to temporarily receive a storage unit U, / c / at least one first vehicle VI configured to travel in aisles 3, said first vehicle being further configured to carry a storage unit U between a high-bay storage location and said at least one transit location AND, / d / at least one second vehicle V2 configured to transport a storage unit U between said at least one transit location ET and at least one external location EE to the storage racks.

[0059] In general and according to an XYZ coordinate system in [Fig. 1]: - the X direction, horizontal and transverse, can represent the width (or depth) direction of storage racks 2, - the Y direction, horizontal and longitudinal, can represent the lengthwise direction of storage racks 2, - the Z direction, vertical can represent the vertical direction of the storage racks.

[0060] The storage racks may have uprights 20 extending along the vertical Z direction, which are distributed along the Y direction lengthwise and along the X direction widthwise. Longitudinal crossbeams 21 may connect successive uprights along the longitudinal Y direction, and transverse crossbeams may connect the uprights along the transverse X direction.

[0061] The longitudinal cross members can be distributed at different levels, vertically along the Z direction, to form different superimposed support surfaces for the storage of the storage units U. Alternatively, the storage units can be supported on mechanical interfaces, typically brackets, projecting towards each other along the Y direction, and according to an embodiment not illustrated.

[0062] For example, the storage unit or each of the storage units U may be supported on two longitudinal crossbeams of the same level, parallel to each other, and in particular when the storage unit includes a pallet.

[0063] The spacing between the uprights 20, along the longitudinal Y direction, is typically constant and typically at least greater than the dimension of the storage unit U when stored in one of the rack's storage locations. The spacing between two successive uprights 20 along the length of the rack may correspond to the dimension of the storage unit, or even be slightly greater than this dimension, in order to store a single storage unit in a storage location, along this direction between the two uprights.

[0064] The spacing between the two successive uprights 20 along the length of the rack can correspond to a multiple (for example, a multiple by 2, by 3, by 4...) of the dimension (in particular the width) of the stored storage unit slightly greater than this dimension, in order to form several adjacent storage locations (for example, 2, 3, 4...) configured to store a plurality of storage units, one next to the other, in this direction between the two uprights. The different storage locations, adjacent along the longitudinal direction, may or may not be physically delimited.

[0065] For example in [Fig.1], two successive uprights of the storage rack are spaced at a dimension slightly greater than three storage units, so as to allow the storage of three storage units U, side by side between the two uprights, at the level of three juxtaposed storage locations between the two uprights.

[0066] In general, the spacing between two successive uprights allows loading or unloading of the storage unit, along the transverse direction X, by inserting or removing the storage unit along the transverse direction.

[0067] The spacing between two successive uprights, along the transverse direction X, can correspond to the dimension of the storage unit U (for example the length dimension) stored in a storage location between the two successive uprights.

[0068] Generally, the storage rack (or each storage rack) forms a plurality of columns along the length of the rack, namely along the longitudinal direction Y, each column comprising a plurality of superimposed storage locations configured respectively to receive storage units, namely that each storage location is configured to receive a storage unit U. In one embodiment (not illustrated) each column is in particular limited along the longitudinal direction Y, by the uprights 20 of the rack.

[0069] According to one embodiment, and as shown in Figures 1 and 2, each storage rack allows for the storage, at each level of the rack, of an integer number Nu of storage units that is a multiple of three, and thus comprises Nu columns, along the longitudinal direction Y. For example, in [Fig. 1], three columns placed side by side along the longitudinal direction are interposed between two successive uprights 20 of the rack. For example, the number Nu is equal to 12 and the number of columns is equal to 12.

[0070] Generally, the storage racks 2 are supported on the horizontal surface SH, typically by their uprights 20. The horizontal surface SH can typically be a rolling surface such as the floor of the installation.

[0071] The storage locations of the storage racks are intended for storing storage units. The storage racks may comprise several storage racks 2 arranged in parallel, separated by one or more aisles, each extending lengthwise along the longitudinal direction Y, in particular: - several (first) storage racks 2 arranged in parallel, separated by one or more first aisles Garlic - several (second) storage racks, storage racks 2 arranged in parallel, separated by one or more second aisles A12.

[0072] Generally, the storage locations of two of the storage racks arranged on either side of one of the aisles are served (loaded or unloaded) by a first vehicle VI.

[0073] In one embodiment (not shown), storage locations are provided under the storage racks, in addition to the ET transit locations. Providing storage units under the storage racks increases storage density.

[0074] The ET transit location(s) are arranged under the storage racks 2 and configured to temporarily receive a storage unit U.

[0075] According to one possibility, notably illustrated in the figures, the transit locations ET may have mechanical storage systems SMT as illustrated in the figures. The mechanical storage system (or each) allows temporary storage of a storage unit U, at a vertical distance from the horizontal surface SH.

[0076] Such a mechanical storage system makes it possible to decouple the operations of the first vehicle VI and the second vehicle V2, during withdrawal or loading operations.

[0077] During the retrieval operations, the first vehicle V1 can transfer a storage unit from one of the storage locations to its placement on the mechanical storage system SMT, without waiting for one of the second vehicles. The mechanical storage system thus provides temporary storage for the storage unit U while one of the second vehicles maneuvers under said storage unit U to transport it out of the storage racks.

[0078] During loading operations, conversely, one of the second vehicles V2 can travel to the mechanical storage system SMT, and deposit said storage unit there, and without waiting for the first vehicle VL. The mechanical storage system thus ensures the temporary storage of the storage unit U, while the first vehicle VI comes to take said storage unit U, and in order to ensure its transfer to one of the storage locations, in the storage rack.

[0079] The first and second storage racks can be placed side-by-side, separated by an avenue Av. Avenue Av is bounded on one side by the first racks and on the other side by the second racks. Avenue Av extends along the transverse direction X and can be configured to connect with the first aisles A1 and the second aisles A12. It should be noted that the first and second storage racks can extend along the longitudinal directions of the racks.

[0080] According to a second possibility (not illustrated), said transit location ET may be devoid of a mechanical storage system under the rack, intended to provide support for the storage unit and its temporary storage, at a vertical distance from the horizontal surface SH. Such a solution requires synchronizing the operations of the first vehicle VI and the second vehicle V2 during removal or loading operations. The first vehicle V1 is then configured to transport said storage unit between said high-level storage location and until it rests on a higher surface of at least a second vehicle V2 parked in the transit location ET.

[0081] In other words, according to this second possibility, the ET transit location is a dedicated area under the rack for parking a second vehicle while waiting to receive a storage unit.

[0082] During the removal operations, the first vehicle V1 can transfer a storage unit from one of the storage locations to one of the second vehicles V2 parked in said transit location ET. A second vehicle V2 must therefore be moved to said transit location ET before the first vehicle VI drops off said storage unit.

[0083] During loading operations, conversely, one of the second vehicles moves to said transit location AND embarks a storage unit U, and successively the first vehicle VI ensures the transfer of the embarked storage unit onto the second vehicle parked at said transit location, and to one of the storage locations, in the storage rack 2.

[0084] Generally, the transit location AND, or all or part of the transit locations are arranged vertically opposite a storage location in a column of the storage rack.

[0085] The storage racks 2 may comprise a plurality of pairs of vertical uprights, each pair of uprights comprising a proximal upright, close to the aisle, facing a distal upright, far from the aisle. The transit location ET (including, where applicable, the mechanical storage system SMT) may have a footprint along the transverse direction of the storage rack less than or equal to the distance between one of the uprights, proximal, and one of the uprights, distal, of the storage rack, namely substantially equal to the width dimension of the storage rack along the transverse direction Y.

[0086] The transit location ET (including, where applicable, the mechanical storage system SMT) may have a footprint along the longitudinal direction of the storage rack 2, greater than or even equal to the dimension of a storage unit, when temporarily stored on the transit location.

[0087] The transit location ET (with or without the mechanical storage system SMT) can extend over a footprint on the horizontal surface SH, such as the ground, within the limits of one of the columns, and more particularly of a storage location of the column.

[0088] According to one embodiment, all or part of the transit locations ET can extend individually within the limits of the column, more particularly within the limits of a storage location of the column, adjacent to the column, such that the transit location is vertically aligned with individual, superimposed storage locations of the column. It is then possible to transfer a storage unit U between a storage location and said transit location adjacent to the column by a movement comprising a component along the vertical direction Z and a component along the transverse direction X only, such that the movement of the storage unit has no component along the longitudinal direction Z.

[0089] Said at least one first vehicle V1 is configured to travel in aisles 3, and is configured to transport a storage unit U between a storage location at the top of a storage rack and said at least one transit location ET.

[0090] Also, said first vehicle V1 circulates mainly in the longitudinal direction Y, along the aisles 3. Said first vehicle can also circulate, on avenue Av in the transverse direction X, and as illustrated in [Fig.2], and also in the direction Y to change from one aisle to another, for example to go from a first aisle A11 to another first aisle, from a first aisle to a second aisle A12, or vice versa, or to go from a second aisle A12 to another second aisle.

[0091] The first vehicle(s) VI may have a horizontal drive system configured to move the vehicle on the horizontal surface. The horizontal drive system is configured to selectively move the first vehicle, following a first direction parallel to the longitudinal direction of the storage racks along the aisles, or even following a direction transverse to the longitudinal direction of the rack, particularly along the aisle, such a horizontal drive system having one or more motorized wheels.

[0092] Said first vehicle V1 is preferably configured to travel in open field on the horizontal surface SH. In other words, the horizontal surface is devoid of guide rails, in particular for the movement of the first vehicle.

[0093] According to one embodiment, the horizontal drive system may have a system for changing direction from the first direction to the second direction or vice versa, without changing the orientation of the vehicle which always remains longitudinally oriented, parallel to the longitudinal direction of the storage racks.

[0094] This may be the solution described in application EP4373690, in which the trolley includes at least 3 drive wheels intended to roll on the ground, capable of pivoting at least 90°.

[0095] As illustrated by way of example in Figures 7 and 7A, said drive wheels 29 are mounted on pivoting and drive devices fixed on the chassis 23 of said trolley, each of said pivoting and drive devices comprising a motor for actuating means for pivoting a drive wheel 29 around a vertical axis, intended to rotate a drive wheel 29 around itself.

[0096] The various drive wheels 29 can be pivoted about their vertical axis, preferably by a single motor 210 for rotating said drive wheels 29 intended to actuate means for rotating said drive wheels housed in said pivoting and drive devices. The motor 210 drives a toothed belt 31, via a roller 32 coupled to the motor shaft. This belt 31 is kept taut by means of tensioning rollers 34.

[0097] The steering change system may, as an alternative, include omnidirectional wheels.

[0098] As yet another embodiment, the steering system ensures the change of direction by ensuring a change of orientation of a chassis of the vehicle, for example by means of one or more swivel wheels, or by a control of the motorized wheels according to different rotation speeds.

[0099] The first vehicle V1 can still typically include at least one mast Mt, and a transfer system ST, movable vertically along the mast configured to transfer a storage unit between the first vehicle and one of the storage locations.

[0100] Said at least one mast extends from a chassis of the first vehicle and may comprise a first mast Mt1 and a second mast Mt2, in parallel. The transfer system ST is configured to move vertically in the direction of said at least one mast. Said mast, in particular the first mast and the second mast, may be telescopic and retracted into a position of least vertical obstruction, in particular when the first vehicle is moving, and extended to reach the upper storage locations of the storage rack, for example storage locations arranged up to 12 meters in height.

[0101] The transfer system may typically include a telescopic system, in particular as taught in document FR3148017A1, in particular as illustrated in Figures 8 to 10, or as taught in that document as prior art. Such a telescopic system ST may include a telescopic arm comprising a first segment SGI and a second segment SG2 mounted to slide relative to the first segment along the transverse X direction, in particular when the first vehicle VI is in one of the aisles 3.

[0102] A motorized actuation device includes a transmission linking the first segment and the second segment, the transmission comprising a belt 30 and pulleys PI mounted for rotation on the first segment SGI cooperating with said belt 30, as well as a motor MO configured to drive one of the motorized pulleys, said pulleys arranged in at least two offset positions on the first segment along the sliding direction.

[0103] The motorized actuation device is configured to, in a first direction of rotation of the motorized pulley, deploy the telescopic system from a retracted position PR ([Fig.8]) between the first segment SGI and the second segment SG2 to a deployed position ([Fig.9] or 10) between the first segment and the second segment and, in a second direction of rotation of the motorized pulley, retract the transfer system from the deployed position to the retracted position.

[0104] In the retracted position PR of the telescopic system, the transfer system can ensure the positioning of said storage unit in the aisle, for example directly under the chassis of the first vehicle, in particular between the first mast Mtl and the second mast Mt2. Moving the telescopic system into the deployed position allows said storage unit to be moved, in the transverse direction, within the rack, for placement in a storage location.

[0105] According to one embodiment, the telescopic system can be: - deployable from the retracted position PR to the deployed position which is a first deployed position PI in a first direction SI of deployment of the second segment relative to the first segment and as illustrated in [Fig.9], - deployable from the retracted position to a second deployed position P2, in a second direction S2 of deployment of the second segment relative to the first segment and as illustrated in [Fig. 10].

[0106] From a position of the first vehicle V1 in one of the aisles 3 between two storage racks 2, the deployment of the telescopic system in the first deployed position PI allows the transfer of the storage unit U into one of the two storage racks, and the deployment of the telescopic system in the second deployed position P2 allows the transfer of the storage unit into the other storage rack, opposite with respect to said aisle.

[0107] The motorized actuation device is then configured to, in the first direction of rotation RI of the motorized pulley, deploy the telescopic arm from the retracted position between the first segment and the second segment to the first deployed position between the first segment and the second segment and, in the second direction of rotation of the motorized pulley, retract the segment system from the first deployed position to the retracted position.

[0108] The motorized actuation device is further configured to, in the second direction of rotation R2 of the motorized pulley (opposite to the first direction RI), deploy the segment system from the retracted position between the first segment and the second segment to the second deployed position between the first segment and the second segment and, in the first direction of rotation of the motorized pulley, retract the segment system from the second deployed position to the retracted position PR.

[0109] Generally, the telescopic arm may have a third segment SG3 sliding on the second segment according to the sliding direction, as well as a second transmission comprising a first belt and a second belt, antagonistic: - said first belt having a first end linked to the first segment and a second end linked to the third segment, said first belt cooperating with a pulley integral with the second segment, said first belt configured to tension itself and ensure the deployment of the third segment SG3 relative to the second segment SG2 during the deployment of the second segment SG2 relative to the first segment SGI from the retracted position to the deployed position, - the second belt having a first end linked to the first segment and a second end linked to the third segment SG3 cooperating with a pulley integral with the second segment SG2, said second belt configured to tension itself and ensure the retraction of the third segment SG3 relative to the second segment SG2 during the retraction of the second segment SG2 relative to the first segment SGI from the deployed position to the retracted position.

[0110] The first vehicle may be a three-way self-guided forklift designed to work in narrow aisles. This forklift includes a deployable fork system that can pivot to deposit or retrieve a storage unit from a storage rack, on either side of the aisle, without the forklift turning in the aisle.

[0111] The first vehicle can also be a self-guided forklift equipped with a system of telescopic forks with bilateral movement to deposit or extract a storage unit on one side or the other of the aisle in which it travels.

[0112] The second vehicle V2 may have a horizontal drive system SEV2 configured to enable movement on the horizontal surface, the horizontal drive system SEV2 comprising one or more motorized wheels. The second vehicle V2 preferably moves in a free field on the horizontal surface. In other words, the horizontal surface is free of guide rails.

[0113] The SEV2 horizontal drive system is configured to selectively move the second vehicle V2, primarily in a direction transverse to the longitudinal direction of the rack, but also in a first direction parallel to the longitudinal direction of the storage racks 2. The SEV2 horizontal drive system may have a direction change system SDV2 from the first direction to the second direction or vice versa, without changing the orientation of the vehicle which always remains longitudinally oriented, perpendicular to the longitudinal direction of the storage racks 2.

[0114] This may be the solution described in application EP4373690 described above in connection with Figures 7 and 7A.

[0115] The steering change system may, as an alternative, include omnidirectional wheels.

[0116] As yet another embodiment, the steering system ensures the change of direction by changing the orientation of the vehicle chassis, for example by means of one or more swivel wheels, or by controlling the motorized wheels according to different rotation speeds.

[0117] The horizontal drive system of the second vehicles may be identical or different from that of the first vehicles.

[0118] Generally, the second vehicle(s) V2 are configured to travel outside the storage racks, through the aisles, or under the storage racks 2 to transfer a storage unit U between a location outside the racks and said transit location ET.

[0119] The second vehicle(s) can also be configured to move in the aisles, in coordination with the first VL vehicles

[0120] Advantageously, the location system for the first and second vehicles, such as lines on the ground or location identifiers on the ground or on the rack, is common to the first and second vehicles.

[0121] According to one embodiment, the second vehicle V2 may include a lifting system comprising a platform PT, identified in [Fig.4], configured to move from a low position so as to allow positioning of the second vehicle below a storage unit U supported by the mechanical storage system SMT to a high position for which the platform lifts the storage unit and releases said storage unit U from the mechanical storage system SMT.

[0122] According to another embodiment, when the transit location lacks a mechanical storage system, the second vehicle V2 may include an upper surface configured to support a storage unit and to allow the transfer of a storage unit between the transfer system of the first vehicle VI and the upper surface of the second vehicle. By way of illustration, the system of The transfer of the first vehicle V1 may include a telescopic fork system, and the upper surface of the second vehicle V2 may include grooves designed to receive the telescopic forks.

[0123] According to this disclosure, the present installation further includes at least one free passage PL under said storage racks, adjacent to said transit location ET, configured to permit the movement of said at least one second vehicle V2 along a traffic lane Vcl; Vc2 transverse to aisles 3.

[0124] By free passage PL, we mean a passage under the rack, allowing the circulation of second vehicles on the horizontal surface, through the traffic lane, which is devoid of mechanical storage system SMT or storage unit.

[0125] The traffic lane crossing the PL free passage is not only configured for the circulation of second vehicles, but is devoid of a transit location for the temporary storage of a storage unit under the rack, and devoid of a storage unit.

[0126] The traffic lane Vcl; Vc2 and said at least one free passage PL are therefore devoid of a mechanical storage system SMT for the temporary storage of a storage unit which would require guidance accuracy to ensure insertion of the second vehicle between two mechanical interfaces of the temporary storage mechanical system.

[0127] The traffic lane Vcl; Vc2 allows the movement of second vehicles V2 carrying a storage unit U, without interruption due to temporary storage of a storage unit, and without speed limitation due to the insertion of the second vehicle V2 through a mechanical temporary storage system. The speed of the second vehicles can exceed 1.5 m / s, or even 2 m / s, even when the second vehicle passes through one of the storage racks while traveling on the horizontal surface SH through the clear passage PL.

[0128] The clear passage PL forms a section of the traffic lane Vcl (respectively Vc2) through the rack for the circulation of a row of second vehicles V2. The clear passage PL extends widthwise through the storage rack, along the transverse direction X, and at least by a dimension corresponding to the dimension of the storage unit U along the longitudinal direction Y. The clear passage extends vertically, along the direction Z from the horizontal surface SH, at least by the combined height of the second vehicle V2 and the storage unit U carried by the second vehicle. If the second vehicle has a lifting system, the clear passage extends vertically, along the direction Z from the horizontal surface SH, at least by the combined height of the second vehicle V2 and the storage unit U carried by the lifting system in the raised position of the second vehicle.

[0129] The traffic lane Vcl; Vc2 transverse to the aisles can extend over part of the storage racks 2, or advantageously over all of the storage racks 2. For this purpose, the free passages PL are provided for all or part of the storage racks 2, and are aligned along the transverse direction X, to form the traffic lane Vcl, Vc2.

[0130] According to this disclosure, the second vehicle is configured to transport a storage unit between said at least one transit location AND said at least one location outside the storage racks by implementing, in particular: - at least one transverse movement of the second vehicle V2 along the traffic lane Vcl; Vc2, followed or preceded by - a longitudinal movement of the second vehicle V2 between the clear passage PL and said at least one transit location ET adjacent, under one of the storage racks, along a longitudinal movement direction of said storage rack.

[0131] In other words, the second vehicle V2 is configured to change its movement direction between a transverse movement direction of said storage rack and a longitudinal movement direction of said storage rack, when said second vehicle V2 is in a clear passage PL.

[0132] when said transit location ET includes the mechanical storage system SMT, said longitudinal movement of the second vehicle V2 between the free passage PL and said at least one transit location ET can ensure an insertion position of the second vehicle under said storage unit U supported by the mechanical storage system SMT.

[0133] The angled arrow in [Fig.3] illustrates the path of a second vehicle V2 which moves transversely to the storage rack to the free passage PL on the traffic lane along the transverse direction X, then moves along the longitudinal direction Y from the free passage PL under the storage rack 2 through the storage mechanics system SMT, under the storage unit U supported on the transit location ET.

[0134] A change of direction of the second vehicle V2 is carried out between the transverse movement along the transverse direction X, and the longitudinal direction Y, in particular without changing the orientation of the vehicle chassis.

[0135] This disclosure is further related to a loading and removal process implemented with a storage and removal facility 1 according to this disclosure.

[0136] The method may involve, for an / RT / operation of removing a storage unit U from a storage location in one of the storage racks: — automated transfer operations of the storage unit U from the storage location in a storage rack to an audited location at least one transit location AND under storage rack 2, by one or more of the first V1 vehicles then: — automated transfer operations of the storage unit U by the or one of the second vehicles V2 from said at least one transit location AND under the storage rack to at least one location outside the storage racks.

[0137] The automated transfer operations by the second vehicle V2 or one of the second vehicles can be carried out by the second vehicle or one of the second vehicles travelling at least along a longitudinal movement from said at least one transit location AND to the adjacent free passage, followed, after a change of direction of the second vehicle V2, by the transverse movement of the second vehicle from the free passage PL along a traffic lane Vcl, Vc2, to move out of the storage racks 2 to at least one external location EE to the storage racks.

[0138] The method may present, for a / CH / operation of loading a storage unit into a storage location in the storage rack: — automated transfer operations of the storage unit U from said at least one location external to the storage racks 2 to said transit location AND under one of the storage racks, by the second vehicle V2, then, — automated transfer operations of the storage unit U from said at least one transit location to the storage location in said storage rack 2, by the first vehicle VL

[0139] The automated transfer operations by the second vehicle or one of the second vehicles can be carried out by the longitudinal movement of the second vehicle or one of the second vehicles V2 travelling along the traffic lane Vcl; Vc2 to the free passage under the storage rack, adjacent to said at least one transit location ET, followed, after a change of direction of the second vehicle, by the longitudinal movement from the free passage PL to said transit location ET adjacent.

[0140] Generally, the first vehicle 1 and the second vehicle 2 are self-guided vehicles comprising an electronic wireless communication module and receiving guidance instructions from a central unit. This central unit has one or more microprocessors, memory, and instructions for constructing the guidance instructions.

[0141] Said central unit may be remote and separate from the first and second vehicles.

[0142] The guidance instructions ensure the movement of the first vehicles VI, in particular movement along the aisles or from one aisle to another via an avenue, as well as the movement of the ST transfer system, at height, along the direction vertical Z, and the operation of the ST transfer system for transferring the storage unit U from a storage location and the first vehicle VI.

[0143] The guidance instructions ensure the movement of the second vehicles V2, in particular the movement of the second vehicles according to the transverse movement along the traffic lane, followed or preceded by the longitudinal movement between the free passage PL and the transit location ET adjacent, with regard to the withdrawal action / RT / or the loading operation / CH / .

[0144] In general, the NET number of transit locations AND along the length of a storage rack may be less than the number of storage locations for each level of the rack along the longitudinal Y direction, and therefore less than the number of columns.

[0145] The number of free passages can correspond to the difference between the number of NET transit locations and the number of NET transit locations. That is

[0146] Npl= Nu-Net

[0147] The ET transit locations and the PL free passages can be arranged along the length of the storage rack 2 alternately so that at least one PL free passage is associated adjacent, laterally to each ET transit location.

[0148] Preferably all ET transit locations are accessible by at least one of the second V2 vehicles, by longitudinal movement between said free passage PL and said ET transit location.

[0149] According to an advantageous embodiment, all or part of the PL free passages are double passages, adjacent to the same transit location AND, the double passages allowing the circulation of two second vehicles V2, each carrying or not a storage unit U, respectively following a first traffic lane Vcl and a second traffic lane Vc2, independent, in opposite directions transversely to the storage rack, the two second vehicles V2 being able to cross each other through the PL free passages, adjacent to the same transit location.

[0150] Having two traffic lanes, first traffic lane Vcl and second traffic lane Vc2, allows for the assignment of opposite directions of traffic to the two traffic lanes respectively, thus reducing the risk of congestion and blocking of second vehicles.

[0151] The presence of double free passages allows the implementation of a loading and unloading process for which the PL free passages adjacent to said transit location are double passages, comprising for the transit location(s): - the first free passages for PL vehicles from different storage racks forming the first Vcl traffic lane for the second V2 vehicles, - of second free passages PL of the said different storage racks, forming the second traffic lane Vc2 for the second vehicles V2.

[0152] Advantageously, the method may provide that the second vehicles V2 travel only in a first direction along the first traffic lane Vcl, and the second vehicles V2 travel only in a second direction, opposite to the first direction, along the second traffic lane Vc2. Since the lanes are independent, the movement of the second vehicles Vc2 along the first traffic lane Vcl does not interfere with the movement of the second vehicles V2 along the second traffic lane Vc2.

[0153] Generally, the width of the first traffic lane Vcl along the longitudinal direction X of the storage rack and the width of the second traffic lane Vc2 can each correspond to the width of a storage location.

[0154] Generally, said at least one location outside the storage racks, also called external location EE, can be in an area Zo facing the storage racks, on one side of the storage racks along the transverse direction Y, and as illustrated in Figures 1 and 2. The transit location(s) are accessible for the second vehicles possibly loaded with the storage units, by using one of the traffic lanes adjacent to the transit location ET to be served.

[0155] The second vehicles V2 can travel from the Zo area, external to the storage racks 2, to said transit location in circulation on the first circulation lane Vcl, by traveling along the transverse movement in the first direction, then change direction and access said transit location ET, by longitudinal movement from the first circulation lane Vcl to said transit location ET, in particular in order to transport a storage unit during loading / CH / , or in order to receive a storage unit during removal / RT / .

[0156] Following the parking at said transit location ET, in particular following the transfer of the storage unit U to the mechanical storage system SMT, or again following the transfer of the storage unit U to the first vehicle during a / CH / loading, the second vehicle V2 can move to the second traffic lane Vc2, following the longitudinal movement, then change direction, then move back to the Zo area by transverse movement, following the second traffic lane Vc2 in the second direction.

[0157] The first traffic lane Vcl and the second traffic lane Vc2 can advantageously serve the different ET transit locations belonging to the different parallel storage racks, adjacent by an orderly circulation of the second vehicles which circulate in the first direction on the first traffic lane Vcl and in the second direction on the second traffic lane Vc2. The one-way traffic directions on the first lane and on the second lane can be reversed.

[0158] According to a first variant, the first traffic lane Vcl and the second traffic lane Vc2 are arranged adjacent to the same transit location ET to be served, on the same side of said transit location ET, and as illustrated in [Fig.1] or 2, which obliges, during longitudinal movement from the second lane Vc2 to the transit location ET, to cross the first traffic lane Vcl.

[0159] According to a second variant, the first traffic lane Vcl and the second traffic lane Vc2 can be arranged on either side of the transit location ET to be served. As illustrated in [Fig. 2A], the second vehicle V2 can access said transit location ET, via the first traffic lane Vcl, in particular from the Zo zone, parked at said transit location, in particular for removal or loading operations, and then evacuate the transit location, via the second traffic lane Vc2, and without having to cross the first lane Vcl, compared to the first variant.

[0160] According to one embodiment, illustrated in [Fig.1], said mechanical storage system SMT comprises a pair of mechanical interfaces IM comprising a first mechanical interface IT1 and a second mechanical interface IT2, parallel to each other, each oriented longitudinally along the length of the storage rack 2, namely along the longitudinal direction Y.

[0161] In general, the SMT mechanical storage system, in particular the interface pairs, can form obstacles to the movement of second vehicles, transversely to the storage rack.

[0162] In the parking position at said transit location ET, said second vehicle V2 is arranged between the first interface IT1 and the second interface IT2 in the insertion position.

[0163] Generally, the second vehicle V2 may include a lifting system comprising a platform PT, identified in [Fig.4], configured to move from a low position so as to allow positioning of the second vehicle below a storage unit U supported by the mechanical storage system SMT to a high position for which the platform lifts the storage unit and releases said storage unit U from the mechanical storage system SMT.

[0164] In general, the storage units U can each have a width dimension, and a length dimension greater than the width dimension.

[0165] The storage units U are stored in the storage locations, longitudinally, along a depth dimension of the storage rack 2, transverse to the storage rack 2, namely that the storage units U are oriented longitudinally along the transverse direction Y.

[0166] The first vehicle V1 can then be configured to transport one of the storage units U from a high storage location to said transit location, without changing the orientation of said storage unit U, by positioning said storage unit U on the transit location AND, in particular on the SMT mechanical storage system, longitudinally oriented, following the transverse direction of the storage rack 2.

[0167] When the mechanical storage system SMT has the pair of mechanical interfaces comprising the first mechanical interface IT1 and the second mechanical interface IT2, said storage unit U can be oriented longitudinally, along the transverse direction, while being supported respectively on the first interface IT1 and on the second interface IT2.

[0168] The second vehicle(s) V2 may include a length dimension LV2 less than or equal to the depth dimension of the storage rack 2, and a width dimension, less than the length of the second vehicle V2, less than the longitudinal dimension of a storage location.

[0169] The first mechanical interface IT1 and the second mechanical interface IT2 can be spaced, along the transverse direction to the storage rack, with a spacing greater than the length dimension LV2 of a second vehicle V2.

[0170] The second V2 vehicle can be configured to change direction without changing the orientation of the storage unit it carries.

[0171] The second vehicle V2 can be of fixed orientation, during the movements of the second vehicle, always longitudinally oriented along the transverse direction X, in particular during transverse movement on the traffic lane, in particular the first traffic lane Vcl or on the second traffic lane Vc2, and also during longitudinal movement between the free passage PL and said transit location AND thanks to the SDV2 direction change system which is configured to change the forward direction of the second vehicle, without changing the orientation of the vehicle chassis.

[0172] Alternatively, the second vehicle V2 can be configured to change direction by rotating around a vertical axis, without substantially moving forward. For example, the second vehicle may include a rotation mechanism that allows to the wheels on one side of the vehicle to turn at a different speed and / or in a different direction than those on the other side.

[0173] According to one embodiment, the storage units U can be palletized contents, each comprising a pallet. The pallets can be 1200 by 1000 mm (length and width in millimeters), for example, an ISO pallet, or any other size known to those skilled in the art, such as 200 by 800 mm for a Euro pallet. The products on the pallet can be wrapped directly in a plastic film wrap to secure them to the pallet, or they can be contained in packaging, typically cartons, secured to the pallet by plastic film wrap.

[0174] According to one variant, the storage units U can be receiving pallets containing pre-palletized contents. Thus, even if customers use different types of pallets, these can be placed on receiving pallets for storage in the facility.

[0175] These receiving pallets can be 1200 by 1000 mm in size and be open tunnel pallets, i.e., pallets with open sides forming a tunnel that facilitates fork insertion. These receiving pallets facilitate the loading and unloading of palletized contents at the infeed and outfeed conveyors described below.

[0176] Generally, and particularly when the storage units are palletized contents, a perimeter barrier BP can form a restricted-access enclosure containing the storage racks 2, as well as the first vehicles VI and the second vehicles V2 traveling on the horizontal surface SH, at the level of the storage racks, or even outside the storage racks. In particular, the enclosure also encloses the area Zo facing the storage racks, including the external locations EE.

[0177] According to such an embodiment, the peripheral barrier prohibits access to the enclosure for operators.

[0178] Said installation may include: - a CVE inlet conveyor for storage units, for the entry of storage units to at least one location outside the storage rack, said units intended to be transported by the second V2 vehicles to at least one ET transit location, and for the purpose of their loading into the storage locations of the rack, - a CVS outbound conveyor for storage units for the outbound of storage units removed from storage locations in storage rack 2, transported by the second V2 vehicles from said at least one transit location AND to said at least one location outside the storage racks.

[0179] According to one embodiment, when said installation includes a perimeter barrier, the inlet conveyor CVE and the outlet conveyor CVS each pass through the perimeter barrier.

[0180] The infeed and outfeed conveyor may include a system of vertically movable forks between a low position at the level of the upper surface or platform of the second vehicle and a high position at the level of a conveying system.

[0181] Alternatively, the infeed and outfeed conveyor may include a conveying system whose end includes an interface for receiving palletized contents.

[0182] According to one embodiment (not illustrated), said storage and retrieval facility may be an order preparation facility, said storage units comprising containers, such as bins, containing products.

[0183] Such an order preparation installation includes one or more order preparation stations, manual or robotic.

[0184] During a / RT / withdrawal, a storage unit can be transported by the first vehicle to said transit location, and then by the second vehicle from said transit location to said external location at the order preparation station to allow collection operations by an operator, or by a robotic arm.

[0185] The products collected in one or more storage units U are transferred into an order carton. Once the collection operations have been carried out, the storage unit U can be returned by a loading operation / CH / by the second vehicle V2 to said transit location ET, and then by the first vehicle V1 from said transit location ET to a storage location in one of the storage racks.

[0186] Generally, and according to the storage and retrieval process according to a first aspect in which said transit location is equipped with a mechanical storage system: - during removal according to / RT / said at least one first vehicle VI transfers the storage unit U from the storage location of the storage rack to said at least one transit location AND under the storage rack, by placing the storage unit on the mechanical storage system SMT, at a distance from the horizontal surface, - during loading according to / CH / , the storage unit is stored on the transit location AND at a distance from the horizontal surface SH by the mechanical storage system SMT, when said at least one first vehicle VI transfers the storage unit from said transit location.

[0187] Said method may include, for removing a storage unit from a storage location of one of the storage racks according to / RT / : / Al / move the first vehicle(s) VI along one of the aisles 3, opposite a column containing said storage unit U, and move the transfer system ST vertically along the height of the mast, up to the height of the storage location of said storage unit, / B 1 / transfer said storage unit U from the storage location to the first vehicle VI, in particular by deploying and then retracting the telescopic arm, / Cl / lower the ST transfer system carrying the storage unit and place said storage unit on said at least one SMT mechanical storage system under the storage rack in particular by deploying the telescopic arm, / Dl / move one of the second V2 vehicles to the storage racks, / El / move said second V2 vehicle at least transversely to the storage rack along the traffic lane in particular along the first traffic lane Vcl to one of the PL free passages adjacent to the SMT mechanical storage system supporting said storage unit U, the second V2 vehicle arranged under said storage rack 2, / Fl / change the direction of movement of vehicle V2 and move the second vehicle V2 longitudinally to the storage rack until the second vehicle is inserted under said storage unit U, supported by the SMT mechanical storage system, in the lower position of the PT platform, / Gl / raise the PT platform to the upper position until the storage unit is lifted relative to the SMT mechanical storage system, / Hl / jointly move the second vehicle V2 and the onboard storage unit U on the PT platform longitudinally to the storage rack until the free passage PL under the storage rack, / 11 / change the direction of travel of the second vehicle V2 and jointly move the second vehicle V2 and the onboard storage unit U on the platform, transversely to the storage rack 2 along the traffic lane, in particular along the second traffic lane Vc2, outside the storage racks 2.

[0188] In general, said method may include, for loading a unit storage in a storage location of one of the storage racks according to / CH / : / A2 / move a second vehicle V2 carrying a storage unit U on its platform PT, to storage racks 2, / B2 / move said second vehicle V2, at least transversely to the storage rack along the traffic lane, in particular the first traffic lane, up to one of the free passages PL adjacent to a mechanical storage system SMT, free of storage units, / C2 / change the direction of movement of the second vehicle V2 and move the vehicle longitudinally to the storage rack until the second vehicle V2 is inserted through the SMT mechanical storage system, into the upper position of the platform supporting said storage unit, / D2 / lower the PT platform to the lowest position and place said storage unit U onto said mechanical storage system SMT, / E2 / move one of the first vehicles VI along aisle 3, and move the transfer system ST vertically along the height of the mast, up to the height of said storage unit supported by mechanical storage system SMT / F2 / transfer said storage unit U, supported by the SMT mechanical storage system, to the first vehicle VI, in particular by deploying and then retracting the telescopic arm / G2 / mount the ST transfer system carrying the storage unit U and place said storage unit into one of the storage locations of the storage rack V2 by the transfer system, in particular by deploying the telescopic arm.

[0189] Generally, a control unit, in particular said central unit, may include one or more microprocessors, memory, and an instruction set configured to cooperate with the microprocessor(s) to implement: - the actions / Al / , / B 1 / , / Cl / , / Dl / , / El / , / Fl / , / Gl / , / Hl / , / 11 / according to the withdrawal / RT / and - the actions / A2 / , / B2 / , / C2 / , / D2 / , / E2 / , / F2 / , / G2 / according to the loading / CH / .

[0190] Advantageously, at the end of step / D2 / of a loading / CH / , when the second vehicle V2 is in the insertion position through the mechanical storage system SMT, with the platform in the lowered position, this second vehicle V2 remains parked at that location, awaiting another storage unit placed on said mechanical storage system according to step / Cl / of a withdrawal / RT / . This optimizes the movement of the second vehicle V2.

[0191] Generally, and according to the storage and retrieval process according to a second aspect in which said transit location is devoid of a mechanical storage system: - during the removal according to / RT / said at least one first vehicle VI transfers the storage unit U from the storage location of the storage rack to said at least one transit location AND under the storage rack, placing the storage unit on the second vehicle V2 parked on said at least one transit location AND; - during loading according to / CH / , said at least one second V2 vehicle carrying the storage unit is parked at said at least one transit location AND, when said to the first vehicle VI transfers the storage unit from said transit location (ET) to said storage location.

[0192] In particular, said method may include, for the removal of a storage unit from a storage location of one of the storage racks according to / RT / : / A3 / moving the first vehicle or one of the first vehicles VI along one of the aisles 3, opposite a column containing said storage unit U, and moving the transfer system ST vertically along the height of the mast, up to the height of the storage location of said storage unit, / B3 / transferring said storage unit U from the storage location to the first vehicle VI, in particular by extending and then retracting the telescopic arm, / C3 / lowering the transfer system ST carrying the storage unit and placing said storage unit onto at least one second vehicle V2 parked at said at least one transit location, and in particular by extending and then retracting the telescopic arm, / D3 / jointly move the second vehicle V2 and the vehicle-mounted storage unit U, longitudinally along the rack to the free passage PL under the storage rack, adjacent to said transit location AND, / E3 / change the direction of movement of the second vehicle V2 and jointly move the second vehicle and the vehicle-mounted storage unit U, transversely to storage rack 2 along the traffic lane outside of storage racks 2.

[0193] In particular, said method may include, for loading a storage unit into a storage location of one of the storage racks according to / CH / : / A4 / moving a second vehicle V2 carrying a storage unit U, to the storage racks, / B4 / moving said second vehicle V2, at least transversely to the storage rack along the traffic lane, in particular the first traffic lane Vcl, to one of the free passages PL adjacent to the transit location ET free of a storage unit, / C4 / changing the direction of movement of the second vehicle V2 and moving the second vehicle V2 longitudinally to the storage rack until the second vehicle V2 carrying the storage unit is parked on said transit location ET, / D4 / move one of the first vehicles VI along an aisle, and move the transfer system ST vertically along the height of the mast, up to the height of said storage unit supported by the second vehicle V2 parked at said transit location ET / E4 / transfer said storage unit U supported on the second vehicle V2 to the first vehicle VI, in particular by the ST transfer system, by deploying and then retracting the telescopic arm, / F4 / mount the transfer system carrying the storage unit and place said storage unit in one of the storage locations of storage rack 2, in particular by deploying and then retracting the telescopic arm.

[0194] Generally, a control unit, in particular said central unit, may include one or more microprocessors, a memory and an instruction set configured to cooperate the microprocessor(s) to implement: - the actions / A3 / , / B3 / , / C3 / , / D3 / / E3 / according to the withdrawal / RT / , - the actions / A4 / , / B4 / , / C4 / , / D4 / / E4 / / F4 / according to the loading / CH / .

[0195] Advantageously, at the end of step / E4 / of the loading / CH / , when a second vehicle V2 is unloaded from the storage unit U, this second vehicle remains parked at the transit location ET, awaiting another storage unit according to step / C3 / of a withdrawal / RT / . This optimizes the movement of the second vehicle V2. List of reference signs

[0196] 1. Storage and retrieval facility

[0197] 2. Storage racks

[0198] 20. Amounts

[0199] 21. Crossbeams

[0200] 3. Aisles between storage racks.

[0201] 30. Belt,

[0202] Garlic. First rows

[0203] A12. Second aisle

[0204] Ave. avenue

[0205] BP. Peripheral barrier

[0206] cl, c2, c3. Columns distributed along the length of the storage rack (in particular first, second and third).

[0207] EE. External location (to storage racks)

[0208] ET. Transit location,

[0209] IM - Pair of mechanical interfaces,

[0210] EH, IT2. First and second mechanical interfaces.

[0211] LV2. Length dimension of the second vehicles.

[0212] MO. Motor

[0213] Mt. Mast of the first vehicles.

[0214] Mtl, Mt2. First and second mast,

[0215] PI. Pulleys

[0216] PL - Free passages.

[0217] PR. Retracted position (of the transfer system of the first vehicles)

[0218] PT. Platform of the second vehicle

[0219] SDV2. Second vehicle steering change system

[0220] SEV2. Second vehicle horizontal drive system

[0221] SGI, SG2, SG3. Respectively first segment, second segment, third segment (telescopic arm of the transfer system),

[0222] SH. horizontal surface

[0223] SMT. Mechanical storage system (under racks)

[0224] ST. Telescopic system of early vehicles

[0225] U. Storage units.

[0226] VI. First self-guided vehicles.

[0227] V2. Second automatic guidance vehicles

[0228] Vc. Traffic lanes.

[0229] Vcl. First traffic lane.

[0230] Vc2. Second traffic lane.

[0231] Zo. Zone facing the second vehicle circulation storage rack.

Claims

Demands

1. Storage and retrieval facility (1) for storage units (U) comprising: / a / a plurality of storage racks (2), spaced apart from each other to form aisles (3), each storage rack (2) comprising a plurality of stacked storage locations for supporting the storage units (U), in height relative to a horizontal surface (SH), such as the floor, / b / at least one transit location (ET) arranged under at least one of the storage racks (2) to temporarily receive a storage unit (U), / c / at least one first vehicle (VI) configured to travel in the aisles (3) and transport a storage unit (U) between an elevated storage location and said at least one transit location (ET), / d / at least one second vehicle (V2) configured to transport a storage unit (U) between said at least one transit location (ET) and at least one external location (EE) to the storage racks; ld at least one clear passage (PL) under said storage racks, adjacent to said transit location (ET), configured to allow the movement of said at least one second vehicle (V2) along a traffic lane (Vcl; Vc2) transverse to the aisles (3).

2. Storage and retrieval installation (1) for storage units (U) according to claim 1, wherein the first vehicle (VI) is configured to transport said storage unit (U) between said elevated storage location and up to resting on an upper surface of at least a second vehicle (V2) parked at the transit location (ET).

3. A storage and retrieval installation (1) for storage units (U) according to claim 1, wherein said transit location (ET) comprises a mechanical storage system (MSS) configured to temporarily support a storage unit at a distance from the horizontal surface (SH), and wherein a longitudinal movement of the second vehicle (V2) from the clear passage (PL) to said adjacent transit location (ET) ensures an insertion position of the second vehicle under said storage unit (U) supported by the mechanical storage system (MSS).

4. Storage and retrieval installation (1) for storage units (U) according to claim 3 in which said mechanical storage system (MSS) comprises a pair of mechanical interfaces (MI) comprising a first mechanical interface (IT1) and a second mechanical interface (IT2), parallel to each other, each oriented longitudinally along the length of the storage rack (2), and in which said second vehicle (V2) is arranged between the first interface (IT1) and the second interface (IT2) in the insertion position.

5. Storage and retrieval installation (1) for storage units (U) according to claim 3 or 4 wherein the second vehicle (V2) comprises a lifting system including a platform (PT) configured to move from a low position so as to permit positioning of the second vehicle below a storage unit (U) supported by the mechanical storage system (MSS) to a high position for which the platform lifts the storage unit and releases said storage unit (U) from the mechanical storage system (MSS).

6. A storage and retrieval installation (1) for storage units (U) according to any one of claims 1 to 5 comprising storage units (U) each having a width dimension and a length dimension greater than the width dimension, and wherein - the storage units (U) are stored in storage locations, longitudinally, along a depth dimension of the storage rack (2), transverse to the storage rack (2), and - the first vehicle (VI) is configured to transport one of the storage units (U) from a high storage location and to a transit location (ET), without changing the orientation of said storage unit (U), by positioning said storage unit (U) on the transit location (ET), oriented longitudinally, along the transverse direction of the storage rack (2).

7. A storage and retrieval installation (1) for storage units (U) according to any one of claims 1 to 6, wherein the storage rack or each storage rack (2) comprises several columns distributed according to the lengthwise direction of the storage rack, each column comprising a plurality of stacked storage locations to respectively receive a plurality of storage units, and wherein the second vehicle(s) (V2) comprise a length dimension (LV2) less than or equal to the depth dimension of the storage rack (2), and a width dimension, less than the length of the second vehicle (V2), less than the longitudinal dimension of a storage location.

8. Storage and retrieval installation (1) for storage units (U) according to any one of claims 4 to 7, wherein the first mechanical interface (IT1) and the second mechanical interface (IT2) are spaced, along the transverse direction to the storage rack, at a spacing greater than one dimension in length (LV2) of a second vehicle (V2).

9. A storage and retrieval installation according to any one of claims 1 to 8 wherein all or part of the free passages (PL) are double passages, adjacent to the same transit location (ET), the double passages allowing the circulation of two second vehicles (V2), each carrying or not a storage unit (U), respectively following a first traffic lane (Vcl) and a second traffic lane (Vc2), independent, in opposite directions transversely to the storage rack, the two second vehicles (V2) being able to cross each other through the free passages (PL), adjacent to the same transit location.

10. A storage and retrieval installation according to any one of claims 1 to 9, wherein the second vehicle is configured to transport a storage unit between said at least one transit location (ET) and said at least one external location (EE) outside the storage racks by implementing: - at least one transverse movement of the second vehicle (V2) along the traffic lane (Vcl; Vc2), followed or preceded by - a longitudinal movement of the second vehicle (V2) between the clear passage (PL) and said at least one adjacent transit location (ET), below one of the storage racks, along a longitudinal movement direction of said storage rack.

11. A storage and retrieval installation according to any one of claims 1 to 10, wherein the vehicle or each second vehicle (V2) comprises a horizontal drive system (SEV2) configured for to ensure movement on the horizontal surface, and to selectively move the second vehicle (V2), along a first direction parallel to the longitudinal direction of the storage racks (2), or along a direction transverse to the longitudinal direction of the rack, as well as a direction change system (SDV2) from the first direction to the second direction or vice versa, without changing the orientation of the vehicle.

12. Installation according to any one of claims 1 to 11, wherein the first vehicle(s) (VI) comprise in whole or in part: — a horizontal drive system configured to move the vehicle on the horizontal surface, - at least one mast (Mt), and - a transfer system (ST), movable vertically along the mast configured to transfer a storage unit between the first vehicle and one of the storage locations.

13. Installation according to any one of claims 1 to 12, comprising the storage units (U), and wherein the storage units (U) are palletized contents, each comprising a pallet.

14. A storage and retrieval installation according to any one of claims 1 to 13, wherein a perimeter barrier (BP) forms a restricted access enclosure containing the storage racks (2), as well as the first vehicles (VI) and the second vehicles (V2) traveling on the horizontal surface (SR).

15. A storage and retrieval installation according to claim 14, comprising: - an infeed conveyor (CVE) for storage units, passing through the perimeter barrier (BP) for the entry of storage units to at least one location outside the storage rack, said units intended to be transported by the second vehicles (V2) to at least one transit location (ET), and for the purpose of their loading into the storage locations of the rack, - an outfeed conveyor (CVS) for storage units, passing through the perimeter barrier, for the exit of storage units removed from the storage locations of the storage rack (2), transported by the second vehicles (V2) from said at least one transit location (ET) to at least one location outside the storage racks.

16. A loading and removal method employing a storage and removal facility (1) according to any one of claims 1 to 15, wherein: - / RT / A storage unit (U) is removed from a storage location in one of the storage racks by: — automated transfer operations of the storage unit (U) from the storage location of the storage rack to at least one transit location (ET) under the storage rack (2), by the first vehicle (VI) and then by: — automated transfer operations of the storage unit (U) by the second vehicle (V2) from said at least one transit location (ET) to at least one external location (EE) outside the storage racks, and / or - / CH / Loading a storage unit into a storage location in the storage rack is performed by: — automated transfer operations of the storage unit (U) from said at least one external location (EE), outside the storage racks (2) to said transit location (ET), under one of the storage racks, by the or one of the second vehicles V2, then by, — automated transfer operations of the storage unit (U) from said at least one transit location to the storage location in said storage rack (2), by the or one of the first vehicles (VI).

17. A loading and removal method according to claim 16 implementing an installation according to claim 2, wherein: - during removal according to / RT / said at least a first vehicle (VI) transfers the storage unit (U) from the storage location of the storage rack to said at least one transit location (ET) under the storage rack, by placing the storage unit on the second vehicle (V2) parked on said at least one transit location (ET); - during loading according to / CH / , said at least a second vehicle (V2) carrying the storage unit, is parked at said at least one transit location (ET), when said first vehicle (VI) transfers the storage unit from said transit location (ET) to said storage location.

18. A loading and removal method according to claim 16 implementing an installation according to any one of claims 3 to 5 and 8, wherein: - during removal according to / RT / , said at least one first vehicle (VI) transfers the storage unit (U) from the storage location of the storage rack to said at least one transit location (ET) under the storage rack, placing the storage unit on the mechanical storage system (MSS), at a distance from the horizontal surface, - during loading according to / CH / , the storage unit is stored on the transit location (ET) at a distance from the horizontal surface (SH) by the mechanical storage system (MSS), when said first vehicle (VI) transfers the storage unit from said transit location.

19. A loading and removal method according to any one of claims 16 to 18, implementing an installation according to claim 10 wherein: - during removal according to / RT / , the automated transfer operations by the second vehicle or one of the second vehicles are carried out by the second vehicle or one of the second vehicles (V2) traveling at least along said longitudinal movement, from said at least one transit location (ET) to the adjacent free passage, followed, after a change of direction of the second vehicle (V2), by the transverse movement of the second vehicle through the free passage (PL) along the traffic lane (Vcl, Vc2), to move out of the storage racks (2) to at least one external location (EE) to the storage racks.- during loading according to / CH / , the automated transfer operations by the second vehicle or one of the second vehicles are carried out by the second vehicle or one of the second vehicles travelling along the traffic lane (Vcl; Vc2) to the free passage under the storage rack, adjacent to said at least one transit location (ET), followed, after a change of direction of the second vehicle, by the longitudinal movement from the free passage (PL) to said adjacent transit location (ET).

20. A storage and retrieval installation according to any one of claims 1 to 15, comprising a control unit, in particular a central processing unit, comprising one or more microprocessors, a memory and a set of instructions configured to cooperate the microprocessor(s) to implement the loading and unloading method according to any one of claims 16 to 19.

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